Autonomous vehicle telescopic sensor system

ABSTRACT

A telescopic sensor system for an autonomous vehicle enables sensors located on movable telescopic apparatuses to obtain sensor data when an object obstructs an area scanned by fixed sensors. An example method of controlling a movable telescopic apparatus on an autonomous vehicle includes obtaining, from a first sensor located on the autonomous vehicle, a first sensor data of a first area relative to a location of the autonomous vehicle, performing, from the first sensor data, a first determination that a view of the first area is obstructed, causing, in response to the first determination, a second sensor coupled to the movable telescopic apparatus to extend to a pre-determined position, and obtaining, from the second sensor, a second sensor data of a second area relative to the location of the autonomous vehicle, where the second area includes at least some of the first area.

TECHNICAL FIELD

This document relates to techniques to operate one or more telescopicsensors on an autonomous vehicle.

BACKGROUND

A vehicle may include cameras for several purposes. For example, camerasmay be attached to a roof of the vehicle for security purposes, fordriving aid, or for facilitating autonomous driving. Cameras mounted ona vehicle can obtain images of one or more areas surrounding thevehicle. These images can be processed to obtain information about theroad or about the objects surrounding the autonomous vehicle. Thus, theimages obtained from the cameras on an autonomous vehicle can be used tosafely maneuver the autonomous vehicle through traffic or on a highway.

SUMMARY

An autonomous vehicle equipped with a telescopic sensor system caninclude a movable telescopic apparatus that can extend and/or retractone or more sensors on the autonomous vehicle so that data obtained bythe one or more sensors can provide better information about anenvironment in which the autonomous vehicle is operated.

An example method of controlling a movable telescopic apparatus on anautonomous vehicle comprises obtaining, from a first sensor located onthe autonomous vehicle, a first sensor data of a first area relative toa location of the autonomous vehicle; performing, from the first sensordata, a first determination that a view of the first area is obstructed;causing, in response to the first determination, a second sensor coupledto the movable telescopic apparatus to extend to a pre-determinedposition; and obtaining, from the second sensor, a second sensor data ofa second area relative to the location of the autonomous vehicle, wherethe second area includes at least some of the first area.

In some embodiments, the first determination is performed by determiningthat a presence of an object in the first area obstructs the sensor fromobtaining the sensor data of a least a portion of the first areaobstructed by the object. In some embodiments, the method furtherincludes performing a second determination that the object is absentfrom the second sensor data or that the second sensor data includes atmost a portion of the object having a first size less than or equal to apre-determined fraction of a second size of the object in the firstsensor data; and causing, in response to the second determination, themovable telescopic apparatus to retract towards the autonomous vehicleto a retracted position.

In some embodiments, the movable telescopic apparatus is caused toextend and retract by sending instructions to actuate a motor associatedwith the movable telescopic apparatus. In some embodiments, the movabletelescopic apparatus includes a housing in which the second sensor andthe movable telescopic apparatus in the retracted position is located,where the method further includes: sending, before sending a firstinstruction to the motor to extend the movable telescopic apparatus, asecond instruction to another motor associated with the housing, wherethe third instruction causes a cover associated with the housing to openby actuating the another motor; and sending, after sending a thirdinstruction to the motor to retract the movable telescopic apparatus, afourth instruction that causes the cover to close by actuating theanother motion.

In some embodiments, the method further comprises causing the movabletelescopic apparatus to remain in the retracted position in response toa speed of the autonomous vehicle being greater than or equal to a speedthreshold. In some embodiments, the method further comprises performinga third determination that the second sensor data includes at most aportion of the object having a first size greater than a pre-determinedfraction times a second size of the object in the first sensor data; andcausing, in response to the third determination, the second sensorcoupled to the movable telescopic apparatus to extend to a secondpre-determined position, where the second pre-determined position islocated further away from the autonomous vehicle compared to thepre-determined position.

An example system comprising a computer that includes a processor and amemory comprising stored instructions that upon execution configure theprocessor to: obtain, from a first sensor located on an autonomousvehicle, a first sensor data of a first area relative to a location ofthe autonomous vehicle; perform, from the first sensor data, a firstdetermination that a view of the first area is obstructed; cause, inresponse to the first determination, a second sensor coupled to amovable telescopic apparatus to extend to a pre-determined position; andobtain, from the second sensor, a second sensor data of a second arearelative to the location of the autonomous vehicle, where the secondarea includes at least some of the first area.

In some embodiments, the movable telescopic apparatus is extendable to aplurality of pre-determined positions, and where the pre-determinedposition is selected from the plurality of pre-determined positionsbased on a speed of the autonomous vehicle. In some embodiments, priorto the cause the second sensor coupled to the movable telescopicapparatus to extend to the pre-determined position, the processor isfurther configured to select, from a plurality of sensors or a pluralityof movable telescopic apparatus, the second sensor or the movabletelescopic apparatus based on a type of sensor associated with the firstsensor and based on a direction in which the first sensor is oriented.In some embodiments, the second sensor data is obtained after themovable telescopic apparatus is extended to the pre-determined position.

In some embodiments, the movable telescopic apparatus includes a doublescissor structure or a telescopic rod. In some embodiments, the firstsensor is a sensor that is fixed in position on the autonomous vehicle.In some embodiments, the first sensor and the second sensor are a sametype of sensor. In some embodiments, the first sensor and the secondsensor include a first camera and a second camera, or a first LightDetection and Ranging (LiDAR) sensor and a second LiDAR sensor, or afirst radar and a second radar.

A non-transitory computer readable storage medium having code storedthereon, the code, when executed by a processor, causing the processorto implement a method comprising obtaining, from a first sensor locatedon an autonomous vehicle, a first sensor data of a first area relativeto a location of the autonomous vehicle; performing, from the firstsensor data, a first determination that a presence of an object in thefirst area obstructs the sensor from obtaining the sensor data of aleast a portion of the first area obstructed by the object; causing, inresponse to the first determination, a second sensor coupled to amovable telescopic apparatus to extend to a pre-determined position; andobtaining, from the second sensor, a second sensor data of a second arearelative to the location of the autonomous vehicle, where the secondarea includes at least some of the first area.

In some embodiments, the method further comprises performing a seconddetermination that the second sensor data includes at most a portion ofthe object; and causing, in response to the second determination, themovable telescopic apparatus to retract towards the autonomous vehicleto a retracted position. In some embodiments, the method furthercomprises: performing a third determination that the second sensor dataincludes at most a portion of the object; and causing, in response tothe third determination, the second sensor coupled to the movabletelescopic apparatus to extend to a second pre-determined position,where the second pre-determined position is located further away fromthe autonomous vehicle compared to the pre-determined position.

In some embodiments, the movable telescopic apparatus is extendable to aplurality of pre-determined positions, and where the pre-determinedposition is selected from the plurality of pre-determined positions. Insome embodiments, the first sensor and the second sensor include a firstcamera and a second camera.

In yet another exemplary aspect, the above-described method is embodiedin the form of processor-executable code and stored in acomputer-readable program medium or a computer-readable storage medium.Thus, a non-transitory computer readable storage medium can have codestored thereon, where the code, when executed by a processor, causes theprocessor to implement the method described in some embodiments.

In yet another exemplary embodiment, an image processing apparatus ordevice that includes a processor that is configured or operable toperform the above-described methods is disclosed.

The above and other aspects and their implementations are described ingreater detail in the drawings, the descriptions, and the claims.

BRIEF DESCRIPTION OF THE DRAWING

FIG. 1A shows a scenario where a fixed sensor obtains sensor data wherethe fixed sensor is located on an autonomous vehicle obtains sensordata.

FIG. 1B shows a scenario where a movable sensor obtains sensor datawhere the movable sensor is located on a movable telescopic apparatus onan autonomous vehicle.

FIG. 1C shows a comparison between a blind spot area of a movable sensorand a blind spot area of a fixed sensor.

FIG. 2A-2B shows two example designs for a movable telescopic apparatus.

FIG. 2C shows an example telescopic sensor system where movabletelescopic apparatuses are associated with or located next to fixedsensors on an autonomous vehicle.

FIG. 3 shows an example flow diagram to operate a movable telescopicapparatus on an autonomous vehicle.

FIG. 4 shows an exemplary block diagram of a computer located in anautonomous vehicle.

DETAILED DESCRIPTION

Autonomous vehicles use sensors such as cameras, Light Detection andRanging (LiDAR), and/or Radars that provides data or images of one ormore areas surrounding the autonomous vehicle. For example, multiplecameras located on a front region of a roof of the autonomous vehiclecan provide images of an area in front of the autonomous vehicle. Acomputer located in the autonomous vehicle can process the sensor datato determine the presence or absence of objects (e.g., vehicles orpedestrians) located within a range from a location of the autonomousvehicle.

An autonomous vehicle that is driven on a local road or that has stoppedat a local intersection can experience scenarios where an area scannedby a sensor can be obstructed by an object such as outgrown treebranches, a construction equipment, a large vehicle on adjacent lanes,etc., For example, in FIG. 1A, an autonomous vehicle 102A is stopped atstop sign and includes at least one fixed camera whose field of view104A is fixed to capture images to the left of the autonomous vehicle102A. As shown in FIG. 1A, the field of view 104A of the fixed camera isblocked by Vehicle 1 so that the images obtained the fixed camera do notcapture Vehicle 2. In some cases, a computer located in the autonomousvehicle 102A includes an algorithm that may determine not to move theautonomous vehicle 102A until the fixed camera can obtain an imagewithout the obstructing object Vehicle 1. This is because an obstructingobject can compromise safety by creating blind spots for the autonomousvehicle 102A.

To overcome at least the technical problems with scenarios where anobject blocks or obstructs a sensor's field of view or scan area, thispatent document describes technology to enable a sensor located on amovable telescopic apparatus to be moved along an axis to obtain sensordata of the area without the obstructing object or without most of theobstructing object. For example, in FIG. 1B, an autonomous vehicle 102Bincludes a camera located on a movable telescopic apparatus which canmove, for example, forward to enable the camera to have a field of view104B enabling the camera to obtain images that indicate that presence ofVehicle 2. The movable telescopic apparatus can be located, for example,on a roof of the autonomous vehicle 102B or on a bumper of theautonomous vehicle 102B or on a side of the autonomous vehicle 102B.

In yet another example, in FIG. 1C, an autonomous vehicle 102C includestwo sensors located on a movable telescopic apparatus which can extend,for example, outward to enable the sensor to minimize the blind spotbehind the autonomous vehicle 102C. The movable telescopic apparatus canbe mounted on side panels of the autonomous vehicle. In FIG. 1C, thefixed sensors located at position A can have a blind spot area inbetween lines 106. Compared to the fixed sensors, sensors located onmovable telescopic apparatus can be moved outwards (or away from theautonomous vehicle 102C) to position B so that a blind spot area inbetween lines 108 is smaller than the blind spot area in between lines106. As shown in FIG. 1C, the area in between the two blind spot areasis shown with a pattern to indicate an improved visibility gained bymoving the sensors to position B using the movable telescopic apparatus.

Furthermore, compared to the data provided by the fixed sensor locatedat position A, the data provided by the movable sensor located atposition B can be analyzed by the sensor data module to provide a moreaccurate distance approximation from the back of the trailer unit. Insome embodiments, the movable telescopic apparatus can be coupled to theautonomous vehicle so that the movable telescopic apparatus extends anangle relative to, for example, a side of the autonomous vehicle. FIG.1C shows the movable sensor at position B is extended to be closer tothe trailer unit compared to the fixed sensor at position A. Thus, themovable sensor at position B can provide wide angle views with a focaldistance to objects behind the trailer unit that is closer than a focaldistance provided by the fixed sensor at position A.

As further explained in this patent document, the movable telescopicapparatus can extend or retract independently of a movement of theautonomous vehicle. The movable telescopic apparatus can also beretracted within a housing or retracted to a position closest to theautonomous vehicle to minimize drag and/or clearance when the autonomousvehicle is driven. Thus, the movable telescopic apparatus is beneficialover permanent extensions that can be easily broken, can requireadditional clearance, and can increase drag when the autonomous vehicleis driven.

The example headings for the various sections below are used tofacilitate the understanding of the disclosed subject matter and do notlimit the scope of the claimed subject matter in any way. Accordingly,one or more features of one example section can be combined with one ormore features of another example section.

I. Design and Features of Movable Telescopic Apparatus

FIG. 2A-2B shows two example designs for a movable telescopic apparatus.FIG. 2A shows a double scissor structure 202 that includes a platform204. The double scissor structure 202 can be coupled to, for example, aroof of an autonomous semi-trailer truck 206. The double scissorstructure 202 can be extended and/or retracted by a motor that turns ascrew associated with the double scissor structure 202. A sensor such asa camera 208 is coupled to the platform 204. FIG. 2B shows anotherexample of a telescopic rod 252 coupled to a side structure of theautonomous vehicle 258. The end of the telescopic rod 252 includes aplatform 256 on which a sensor 254 is coupled. The telescopic rod 252can be extended outward and retracted using a motor. The distance and/ordirection of movement of the platforms 204 and 256 can be controlled bya sensor movement module (shown as 425 in FIG. 4) as further describedbelow in Section II of this patent document.

FIG. 2B further illustrates the benefit of having a movable telescopicapparatus compared to a sensor located on a fixed extended structure. Ifthe sensor 254 was located on a fixed extended structure, then such adesign would not enable the autonomous vehicle 258 to be safely driven.Thus, the movable telescopic apparatus is advantageous over a fixedextended structure. In some embodiments, as further explained in thispatent document, the movable telescopic apparatus can be extended inlimited or specific driving conditions to facilitate safe operation(e.g., extending the movable telescopic apparatus when speed ofautonomous vehicle is below a threshold or a length of the extension ofthe movable telescopic apparatus may be based on speed of the autonomousvehicle).

In FIGS. 2A and 2B, the sensors 208 and 254 are shown to point towards afront of the autonomous semi-trailer truck. The sensors 208 and 254 maybe oriented in any desired direction. For example, the sensor 254 may beoriented to point to a rear of the autonomous semi-trailer truck 258(e.g., towards the trailer unit). In another example, the sensor 208 maybe oriented to point to one of the sides of the autonomous semi-trailertruck 206.

In some embodiments, as shown in FIG. 2A, the double scissor structure202 can be oriented to extend in a forward direction closer to the frontbumper of the autonomous semitrailer truck 206 or to retract away fromthe front bumper of the autonomous semitrailer truck 206. In someembodiments, as shown in FIG. 2B, the telescopic rod 252 can be orientedto extend in a sideways direction away from a door or side panel of theautonomous semitrailer truck 258 or to retract towards the door or sidepanel of the autonomous semitrailer truck 258. In some embodiments, thedouble scissor structure 202 or the telescopic rod 252 can be orientedto extend in an upward direction away from a roof of an autonomoussemitrailer truck or to retract towards the roof of the autonomoussemitrailer truck. The movable telescopic apparatus is in a neutralposition when it is fully retracted at a position closest to theautonomous vehicle.

The example designs for the movable telescopic apparatus as shown inFIGS. 2A and 2B are not limited to the scenarios described above. Forexample, the telescopic rod 252 can be coupled to the roof of theautonomous vehicle and can extend and retract (e.g., away from andtowards the roof) or the double scissor structure 202 can be coupled toa side structure of an autonomous vehicle and can extend outward andretract (e.g., away from and towards the side structure).

FIG. 2C shows an example telescopic sensor system where movabletelescopic apparatuses 270 a-270 c are associated with or located nextto each of three fixed sensors 272 a-272 c on an autonomous vehicle 274.The fixed sensor 272 a is coupled to a roof of a tractor unit of theautonomous vehicle 274 and is pointing in a direction towards the frontof the autonomous vehicle 274 or in a direction in which the autonomousvehicle 274 is to be driven. The fixed sensors 272 b and 272 c are alsocoupled to the autonomous vehicle 274 and point in a direction to thetwo sides of the autonomous vehicle 274. In some embodiments, a sensorcoupled to a movable telescopic apparatus can be located next to oradjacent to each fixed sensor.

The telescopic sensor system can be setup in a redundant architecturewhere the sensor coupled to the movable telescopic apparatus can be ofthe same sensor type as the fixed sensor that may be next to the movabletelescopic apparatus. For example, if fixed sensor 272 a is a camera,then sensor coupled to the movable telescopic apparatus 270 a is also acamera. In this example, as further explained in this patent document,if the image obtained by the camera 272 a is determined to include anobstructing object, then camera coupled to a platform on the movabletelescopic apparatus 270 a can be extended or moved to obtain an imagewithout the obstructing object or without most of the obstructing image.In another example, if an image obtained by LiDAR 272 c is determined toinclude an obstructing object, then the LiDAR coupled to a platform onthe movable telescopic apparatus 270 c can be extended or moved toobtain sensor data without the obstructing object or without most of theobstructing object. As further described in Section II of this patentdocument, after a determination is made that a sensor on an extendedmovable telescopic apparatus has obtained sensor data without theobstructing object or without most of the obstructing object, the motorof the movable telescopic apparatus is instructed to retract or move thesensor to a neutral position.

In some embodiments, the movable telescopic apparatus when in a neutralor retracted position can be located in a housing. The housing includesa cover that can be opened or closed by sending instructions to a motorlocated on the housing. The housing can enable the movable telescopicapparatus to be safely deployed while the autonomous vehicle is inmotion, parked, or stopped (e.g., stopped at intersection or at trafficlight). After the cover of the housing is opened, the movable telescopicapparatus can be extended or moved to another position so that a sensorcan obtain sensor data without the obstructing object or without most ofthe obstructing object. After the sensor on an extended movabletelescopic apparatus has obtained sensor data without the obstructingobject or without most of the obstructing object, the motor of themovable telescopic apparatus is instructed to retract or move the sensorto a neutral position and the motor associated with the cover isinstructed to close the cover.

II. Movable Telescopic Apparatus Operations

A computer located in an autonomous vehicle is communicably coupled toone or more motors associated with one or more movable telescopicapparatuses on the autonomous vehicle and/or to one or more motorsassociated with one or more optional housing for the one or more movabletelescopic apparatuses. As shown in FIG. 4, the computer includes sensormovement module (shown as 425 in FIG. 4) and a sensor data module (shownas 430 in FIG. 4) that can perform operations related to the movabletelescopic apparatus and related to the sensor coupled to the movabletelescopic apparatus.

The motor associated with the movable telescopic apparatus and/or themotor associated with the optional housing in which the movabletelescopic apparatus is located can be operated by the sensor movementmodule based on information obtained by a sensor data module. A sensordata module can determine that sensor data (e.g., an image) from a fixedsensor (e.g., fixed camera) includes a presence of an obstructing objectthat prevents the sensor data module from determining trajectoryinformation of the autonomous vehicle (e.g., direction in which to movethe autonomous vehicle) and/or prevents the sensor data module fromdetermining instructions (e.g., related throttle and/or steering) tomove the autonomous vehicle.

When the sensor data module determines that sensor data from the fixedsensor includes the presence of the obstructing object that prevents thesensor data module from determining trajectory information or fromdetermining instructions to move the autonomous vehicle, then the sensordata module can send an indication that triggers the sensor movementmodule to extend or move a sensor on a movable telescopic apparatusassociated with the fixed sensor. The sensor movement module can sendinstruction to actuate a motor associated with the movable telescopicapparatus to extend or move the sensor. In embodiments that include ahousing, the sensor movement module first sends instruction to open thecover of the housing and then sends instruction to actuate the motorassociated with the movable telescopic apparatus to extend or move thesensor.

The distance and/or direction of movement of the platforms 204 and 256can be controlled by a sensor movement module. Regarding the distance ofthe movement, the sensor movement module can actuate a motor of amovable telescopic apparatus to move a sensor located on the movabletelescopic apparatus up to a certain position. For example, if themovable telescopic apparatus can move up to two-feet from a neutralposition of the movable telescopic apparatus or from a surface (e.g.,roof) of the autonomous vehicle, then the sensor movement module canactuate a motor of the movable sensor apparatus to move the sensor atany position up to two-feet.

In some embodiments, the sensor movement module can incrementally movethe sensor up to one or more pre-determined distances from a neutralposition of the movable telescopic apparatus. The pre-determineddistances can be configured to move a sensor to a near position (e.g.,0.5 feet from neutral position in above-mentioned example), a middleposition (e.g., 1.0 foot from neutral position in above-mentionedexample), and/or a far position (e.g., 2 feet from the neutral positionin the above-mentioned example). Thus, in the above-mentioned example,the sensor movement module can first move the sensor up to 0.5 feet fromneutral position, and as further described in this section, the sensordata module can analyze the sensor data of the sensor that is moved to0.5 feet to determine whether an obstructing object is absent or mostlyabsent. If the sensor data module determines that obstructing object isnot absent or not mostly absent from the sensor data, then the sensordata module can trigger the sensor movement module to move the sensor toa position further away from the autonomous vehicle (e.g., at 1.0 foot)and can repeat the process mentioned above to analyze whether theobstructing object or most of the obstructing object is absent from thesensor data of sensor located at 1.0 foot from neutral position. Atechnical benefit of incrementally moving the sensor is that it enablesthe sensor movement module to extend the sensor just enough or tosufficiently extend the sensor to obtain sensor data without theobstructing object or without most of the obstructing object.

A sensor data module can determine that sensor data obtained from asensor on a movable telescopic apparatus does not include theobstructing object or does not include most of the obstructing object bycomparing the sensor data from the sensor on the movable telescopicapparatus with sensor data from the fixed sensor. The sensor data modulecan determine by comparing the moved sensor's sensor data with the fixedsensor's sensor data whether the obstructing object is absent or whetherat least some portion of the obstructing object is present in the sensordata of the moved sensor. In some cases, by actuating the movabletelescopic apparatus, the sensor on the movable telescopic apparatus canobtain sensor data without the obstructing object (e.g., as described inFIG. 1B). Thus, in some embodiments, if the movable sensor datadetermines that an obstructing object included in the sensor data of thefixed sensor is absent from the sensor data of the moved sensor, thenthe movable sensor module can determine that the moved sensor hassuccessfully obtained sensor data without the obstructing object, themovable sensor module can instruct the sensor movement module to retractthe movable telescopic apparatus, and/or the movable sensor module canperform additional computations to determine trajectory instructionsand/or movement related instructions (e.g., steering, throttle, brakes,etc.,) for the autonomous vehicle

However, in some other cases, the sensor data obtained by the sensor onthe extended movable telescopic apparatus can still include some of theobstructing image. In some embodiments, if the movable sensor datadetermines that the sensor data obtained by the moved sensor includes atmost a portion of the obstructing object whose size is less than orequal to a pre-determined fraction (e.g., less than or equal to 10%,less than or equal to 0.2, etc.,) of the size of the obstructing objectincluded in the sensor data of the fixed sensor, then the sensor datamodule can determine that the moved sensor has successfully obtainedsensor data without most of the obstructing object, the movable sensordata can instruct the sensor movement module to retract the movabletelescopic apparatus and/or perform additional computations as mentionedabove.

In some embodiments, a distance by which the movable telescopicapparatus is to extend or a position up to which the movable telescopicapparatus is to extend may be based on the speed of the autonomousvehicle. For example, if the autonomous vehicle is driven at a speedless than 10 mph, then the sensor movement module can instruct themovable telescopic apparatus to be extended up to 2 feet in theabove-mentioned example. However, in one example, if the autonomousvehicle's speed between 10 mph and 20 mph, then the sensor movementmodule can instruct the movable telescopic apparatus to be extended upto 1 foot in the above-mentioned example. Thus, in some embodiments, thedistance by which the movable telescopic apparatus is instructed toextend may be inversely related to the speed of the autonomous vehicle.

Regarding the direction of movement, the sensor movement module candetermine which of the one or more movable telescopic apparatus on anautonomous vehicle to actuate based on (1) a direction of movement ofthe movable telescopic apparatus (e.g., forward/backward, up/down,etc.,) and (2) a direction in which the sensor on the movable telescopicapparatus is oriented. The sensor movement module can determine thedirection in which to extend a sensor and can select an appropriatemovable telescopic apparatus that can be actuated to move in thedetermined direction. For example, a telescopic sensor system mayinclude two movable telescopic apparatuses on a roof of the autonomousvehicle with sensors that may be oriented in a same direction (e.g.,towards area(s) in front of the autonomous vehicle) or with sensors thatmay be oriented in different directions (e.g., towards areas in frontand side of autonomous vehicle).

In the above-mentioned example, one movable telescopic apparatus can bedesigned to move forward and backward (e.g., towards and away from afront bumper) and the other movable telescopic apparatus can be designedto move up and down (e.g., away from and towards the roof). The sensormovement module can independently control the motors of the two movabletelescopic apparatuses and can thereby independently control thedirections in which to actuate the movable telescopic apparatuses tosuccessfully obtain sensor data without the obstructing object orwithout most of the obstructing object. Thus, if the sensor movementmodule determines that a sensor located on a roof of the autonomousvehicle should be moved forward, then the sensor movement module canselect and send instructions to a movable telescopic apparatus locatedon a roof that can be actuated to move forward. Also, if the sensormovement module determines that sensor data of an area located in frontof an autonomous vehicle includes an obstructing object, then the sensormovement module can determine to move a movable telescopic apparatushaving a sensor oriented to scan/obtain images of the area towards thefront of the autonomous vehicle.

In some embodiments, the sensor movement module can store on a computerlocated in the autonomous vehicle a lookup table in which multiplemovable telescopic apparatus can be listed along with the direction inwhich they move (e.g., up/down, forward/backward, etc.,), locations ofthe movable telescopic apparatus on the autonomous vehicle (e.g., frontbumper, roof middle, roof left side, etc.,), and directions in which thesensors on the movable telescopic apparatus are oriented (e.g., front ofautonomous vehicle, side left of autonomous vehicle, side right ofautonomous vehicle, rear right of autonomous vehicle, etc.,). The sensormovement module can refer to the lookup table to select an appropriatemovable telescopic apparatus and an appropriate sensor to obtain sensordata without an obstructing object or without most of the obstructingobject.

In some embodiments, the sensor movement module can prevent the movabletelescopic apparatus to be actuated under some scenarios. For example,the sensor movement module can prevent the movable telescopic apparatusto be actuated when the autonomous vehicle is driven at a speed greaterthan or equal to a pre-determined speed (e.g., greater than or equal to30 mph). Such a feature is technically advantageous as it at maximizefuel efficiency and protect the movable telescopic apparatus and itssensor from any damage from other objects (e.g., branches, overheadbridge, traffic light structure, etc.,). In some embodiments, a distanceby which the movable telescopic apparatus is to extend may be based onthe speed of the autonomous vehicle.

In some driving scenarios, a sensor may be prevented from fullycapturing sensor data of an area by a permanent obstructing object(e.g., bridge, trees, curved road, etc.,). In some embodiments, thesensor movement module can store a databased in a computer located inthe autonomous vehicle, where the database includes a global positioningsystem (GPS) location of permanent obstructing objects. An autonomousvehicle includes a GPS unit that is communicably coupled to the computerin the autonomous vehicle so that the sensor movement module candetermine whether the autonomous vehicle is within a pre-determineddistance of a GPS location where a permanent obstructing object islocated. If the sensor movement module determines that the autonomousvehicle is within the pre-determined distance of the permanentobstructing object's GPS location, the sensor movement module may referto the database which may store information about an appropriate movabletelescopic apparatus to extend to obtain a better sensor data of an areaaround or past the permanent obstructing object.

FIG. 3 shows an example flow diagram to operate a movable telescopicapparatus on an autonomous vehicle. At operation 302, the sensor datamodule obtains, from a first sensor located on the autonomous vehicle, afirst sensor data of a first area relative to a location of theautonomous vehicle. At operation 304, the sensor data module performs,from the first sensor data, a first determination that a view of thefirst area is obstructed. In some embodiments, the first determinationat operation 304 is performed by the sensor data module by determiningthat a presence of an object in the first area obstructs the sensor fromobtaining the sensor data of a least a portion of the first areaobstructed by the object.

At operation 306, the sensor movement module causes, in response to thefirst determination, a second sensor coupled to the movable telescopicapparatus to extend to a pre-determined position. At operation 308, thesensor data module obtains, from the second sensor, a second sensor dataof a second area relative to the location of the autonomous vehicle,where the second area includes at least some of the first area.

In some embodiments, the method of FIG. 3 further includes performing asecond determination that the object is absent from the second sensordata or that the second sensor data includes at most a portion of theobject having a first size less than or equal to a pre-determinedfraction of a second size of the object in the first sensor data; andcausing, in response to the second determination, the movable telescopicapparatus to retract towards the autonomous vehicle to a retractedposition.

In some embodiments, the movable telescopic apparatus is caused toextend and retract by sending instructions to actuate a motor associatedwith the movable telescopic apparatus. In some embodiments, the movabletelescopic apparatus includes a housing in which the second sensor andthe movable telescopic apparatus in the retracted position is located,where the method of FIG. 3 further includes sending, before sending afirst instruction to the motor to extend the movable telescopicapparatus, a second instruction to another motor associated with thehousing, where the third instruction causes a cover associated with thehousing to open by actuating the another motor; and sending, aftersending a third instruction to the motor to retract the movabletelescopic apparatus, a fourth instruction that causes the cover toclose by actuating the another motion. In some embodiments, the methodof FIG. 3 further includes causing the movable telescopic apparatus toremain in the retracted position in response to a speed of theautonomous vehicle being greater than or equal to a speed threshold.

In some embodiments, the method of FIG. 3 further includes performing athird determination that the second sensor data includes at most aportion of the object having a first size greater than a pre-determinedfraction times a second size of the object in the first sensor data; andcausing, in response to the third determination, the second sensorcoupled to the movable telescopic apparatus to extend to a secondpre-determined position, where the second pre-determined position islocated further away from the autonomous vehicle compared to thepre-determined position.

In some embodiments, the movable telescopic apparatus is extendable to aplurality of pre-determined positions, and where the pre-determinedposition is selected from the plurality of pre-determined positionsbased on a speed of the autonomous vehicle. In some embodiments, themovable telescopic apparatus is extendable to a plurality ofpre-determined positions, and where the pre-determined position isselected from the plurality of pre-determined positions. In someembodiments, prior to the causing the second sensor coupled to themovable telescopic apparatus to extend to the pre-determined position,the method further comprises selecting, from a plurality of sensors or aplurality of movable telescopic apparatus, the second sensor or themovable telescopic apparatus based on a type of sensor associated withthe first sensor and based on a direction in which the first sensor isoriented.

In some embodiments, the second sensor data is obtained after themovable telescopic apparatus is extended to the pre-determined position.In some embodiments, the movable telescopic apparatus includes a doublescissor structure or a telescopic rod. In some embodiments, the firstsensor is a sensor that is fixed in position on the autonomous vehicle.In some embodiments, the first sensor and the second sensor are a sametype of sensor. In some embodiments, the first sensor and the secondsensor include a first camera and a second camera, or a first LightDetection and Ranging (LiDAR) sensor and a second LiDAR sensor, or afirst radar and a second radar.

In some embodiments, the method of FIG. 3 further includes performing asecond determination that the second sensor data includes at most aportion of the object; and causing, in response to the seconddetermination, the movable telescopic apparatus to retract towards theautonomous vehicle to a retracted position. In some embodiments, themethod of FIG. 3 further includes performing a third determination thatthe second sensor data includes at most a portion of the object; andcausing, in response to the third determination, the second sensorcoupled to the movable telescopic apparatus to extend to a secondpre-determined position, where the second pre-determined position islocated further away from the autonomous vehicle compared to thepre-determined position.

FIG. 4 shows an exemplary block diagram of a computer 400 located in anautonomous vehicle. The computer 400 includes at least one processor 410and a memory 405 having instructions stored thereupon. The instructionsupon execution by the processor 410 configure the computer 400 toperform the operations related to sensor movement module and/or sensordata module as described in FIGS. 1B to 3 and in the various embodimentsdescribed in this patent document. The transmitter 415 transmits orsends output values to control one or more motors to extend, retract, ormove the movable telescopic apparatus on the autonomous vehicle. Thereceiver 420 receives information or data transmitted or sent by one ormore sensors (e.g., cameras, LiDAR, GPS unit) on the autonomous vehicle.

In this document the term “exemplary” is used to mean “an example of”and, unless otherwise stated, does not imply an ideal or a preferredembodiment.

Some of the embodiments described herein are described in the generalcontext of methods or processes, which may be implemented in oneembodiment by a computer program product, embodied in acomputer-readable medium, including computer-executable instructions,such as program code, executed by computers in networked environments. Acomputer-readable medium may include removable and non-removable storagedevices including, but not limited to, Read Only Memory (ROM), RandomAccess Memory (RAM), compact discs (CDs), digital versatile discs (DVD),etc. Therefore, the computer-readable media can include a non-transitorystorage media. Generally, program modules may include routines,programs, objects, components, data structures, etc. that performparticular tasks or implement particular abstract data types. Computer-or processor-executable instructions, associated data structures, andprogram modules represent examples of program code for executing stepsof the methods disclosed herein. The particular sequence of suchexecutable instructions or associated data structures representsexamples of corresponding acts for implementing the functions describedin such steps or processes.

Some of the disclosed embodiments can be implemented as devices ormodules using hardware circuits, software, or combinations thereof. Forexample, a hardware circuit implementation can include discrete analogand/or digital components that are, for example, integrated as part of aprinted circuit board. Alternatively, or additionally, the disclosedcomponents or modules can be implemented as an Application SpecificIntegrated Circuit (ASIC) and/or as a Field Programmable Gate Array(FPGA) device. Some implementations may additionally or alternativelyinclude a digital signal processor (DSP) that is a specializedmicroprocessor with an architecture optimized for the operational needsof digital signal processing associated with the disclosedfunctionalities of this application. Similarly, the various componentsor sub-components within each module may be implemented in software,hardware or firmware. The connectivity between the modules and/orcomponents within the modules may be provided using any one of theconnectivity methods and media that is known in the art, including, butnot limited to, communications over the Internet, wired, or wirelessnetworks using the appropriate protocols.

While this document contains many specifics, these should not beconstrued as limitations on the scope of an invention that is claimed orof what may be claimed, but rather as descriptions of features specificto particular embodiments. Certain features that are described in thisdocument in the context of separate embodiments can also be implementedin combination in a single embodiment. Conversely, various features thatare described in the context of a single embodiment can also beimplemented in multiple embodiments separately or in any suitablesub-combination. Moreover, although features may be described above asacting in certain combinations and even initially claimed as such, oneor more features from a claimed combination can in some cases be excisedfrom the combination, and the claimed combination may be directed to asub-combination or a variation of a sub-combination. Similarly, whileoperations are depicted in the drawings in a particular order, thisshould not be understood as requiring that such operations be performedin the particular order shown or in sequential order, or that allillustrated operations be performed, to achieve desirable results.

Only a few implementations and examples are described and otherimplementations, enhancements and variations can be made based on whatis described and illustrated in this disclosure.

What is claimed is:
 1. A method of controlling a movable telescopicapparatus on an autonomous vehicle, comprising: obtaining, from a firstsensor located on the autonomous vehicle, a first sensor data of a firstarea relative to a location of the autonomous vehicle; performing, fromthe first sensor data, a first determination that a view of the firstarea is obstructed; causing, in response to the first determination, asecond sensor coupled to the movable telescopic apparatus to extend to apre-determined position; and obtaining, from the second sensor, a secondsensor data of a second area relative to the location of the autonomousvehicle, wherein the second area includes at least some of the firstarea.
 2. The method of claim 1, wherein the first determination isperformed by: determining that a presence of an object in the first areaobstructs the sensor from obtaining the sensor data of a least a portionof the first area obstructed by the object.
 3. The method of claim 2,further comprising: performing a second determination that the object isabsent from the second sensor data or that the second sensor dataincludes at most a portion of the object having a first size less thanor equal to a pre-determined fraction of a second size of the object inthe first sensor data; and causing, in response to the seconddetermination, the movable telescopic apparatus to retract towards theautonomous vehicle to a retracted position.
 4. The method of claim 3,wherein the movable telescopic apparatus is caused to extend and retractby sending instructions to actuate a motor associated with the movabletelescopic apparatus.
 5. The method of claim 4, wherein the movabletelescopic apparatus includes a housing in which the second sensor andthe movable telescopic apparatus in the retracted position is located,wherein, the method further includes: sending, before sending a firstinstruction to the motor to extend the movable telescopic apparatus, asecond instruction to another motor associated with the housing, whereinthe third instruction causes a cover associated with the housing to openby actuating the another motor; and sending, after sending a thirdinstruction to the motor to retract the movable telescopic apparatus, afourth instruction that causes the cover to close by actuating theanother motion.
 6. The method of claim 3, further comprising: causingthe movable telescopic apparatus to remain in the retracted position inresponse to a speed of the autonomous vehicle being greater than orequal to a speed threshold.
 7. The method of claim 2, furthercomprising: performing a third determination that the second sensor dataincludes at most a portion of the object having a first size greaterthan a pre-determined fraction times a second size of the object in thefirst sensor data; and causing, in response to the third determination,the second sensor coupled to the movable telescopic apparatus to extendto a second pre-determined position, wherein the second pre-determinedposition is located further away from the autonomous vehicle compared tothe pre-determined position.
 8. A system comprising a computer thatincludes a processor and a memory comprising stored instructions thatupon execution configure the processor to: obtain, from a first sensorlocated on an autonomous vehicle, a first sensor data of a first arearelative to a location of the autonomous vehicle; perform, from thefirst sensor data, a first determination that a view of the first areais obstructed; cause, in response to the first determination, a secondsensor coupled to a movable telescopic apparatus to extend to apre-determined position; and obtain, from the second sensor, a secondsensor data of a second area relative to the location of the autonomousvehicle, wherein the second area includes at least some of the firstarea.
 9. The system of claim 8, wherein the movable telescopic apparatusis extendable to a plurality of pre-determined positions, and whereinthe pre-determined position is selected from the plurality ofpre-determined positions based on a speed of the autonomous vehicle. 10.The system of claim 8, wherein prior to the cause the second sensorcoupled to the movable telescopic apparatus to extend to thepre-determined position, the processor is further configured to: select,from a plurality of sensors or a plurality of movable telescopicapparatus, the second sensor or the movable telescopic apparatus basedon a type of sensor associated with the first sensor and based on adirection in which the first sensor is oriented.
 11. The system of claim8, wherein the second sensor data is obtained after the movabletelescopic apparatus is extended to the pre-determined position.
 12. Thesystem of claim 8, wherein the movable telescopic apparatus includes adouble scissor structure or a telescopic rod.
 13. The system of claim 8,wherein the first sensor is a sensor that is fixed in position on theautonomous vehicle.
 14. The system of claim 8, wherein the first sensorand the second sensor are a same type of sensor.
 15. The system of claim8, wherein the first sensor and the second sensor include a first cameraand a second camera, or a first Light Detection and Ranging (LiDAR)sensor and a second LiDAR sensor, or a first radar and a second radar.16. A non-transitory computer readable storage medium having code storedthereon, the code, when executed by a processor, causing the processorto implement a method comprising: obtaining, from a first sensor locatedon an autonomous vehicle, a first sensor data of a first area relativeto a location of the autonomous vehicle; performing, from the firstsensor data, a first determination that a presence of an object in thefirst area obstructs the sensor from obtaining the sensor data of aleast a portion of the first area obstructed by the object; causing, inresponse to the first determination, a second sensor coupled to amovable telescopic apparatus to extend to a pre-determined position; andobtaining, from the second sensor, a second sensor data of a second arearelative to the location of the autonomous vehicle, wherein the secondarea includes at least some of the first area.
 17. The non-transitorycomputer readable storage medium of claim 16, wherein the method furthercomprises: performing a second determination that the second sensor dataincludes at most a portion of the object; and causing, in response tothe second determination, the movable telescopic apparatus to retracttowards the autonomous vehicle to a retracted position.
 18. Thetransitory computer readable storage medium of claim 16, wherein themethod further comprises: performing a third determination that thesecond sensor data includes at most a portion of the object; andcausing, in response to the third determination, the second sensorcoupled to the movable telescopic apparatus to extend to a secondpre-determined position, wherein the second pre-determined position islocated further away from the autonomous vehicle compared to thepre-determined position.
 19. The transitory computer readable storagemedium of claim 16, wherein the movable telescopic apparatus isextendable to a plurality of pre-determined positions, and wherein thepre-determined position is selected from the plurality of pre-determinedpositions.
 20. The transitory computer readable storage medium of claim16, wherein the first sensor and the second sensor include a firstcamera and a second camera.